mirror of https://github.com/ArduPilot/ardupilot
99 lines
3.9 KiB
C++
99 lines
3.9 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* matrix3.cpp
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* Copyright (C) Andrew Tridgell 2012
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_Math.h"
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#define HALF_SQRT_2 0.70710678118654757
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#define MATRIX_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1)
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#define MATRIX_ROTATION_YAW_45 Matrix3f(HALF_SQRT_2, -HALF_SQRT_2, 0, HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_135 Matrix3f(-HALF_SQRT_2, -HALF_SQRT_2, 0, HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_180 Matrix3f(-1, 0, 0, 0, -1, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_225 Matrix3f(-HALF_SQRT_2, HALF_SQRT_2, 0, -HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_270 Matrix3f(0, 1, 0, -1, 0, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_315 Matrix3f(HALF_SQRT_2, HALF_SQRT_2, 0, -HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, 1)
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#define MATRIX_ROTATION_ROLL_180 Matrix3f(1, 0, 0, 0, -1, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_45 Matrix3f(HALF_SQRT_2, HALF_SQRT_2, 0, HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_90 Matrix3f(0, 1, 0, 1, 0, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_135 Matrix3f(-HALF_SQRT_2, HALF_SQRT_2, 0, HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, -1)
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#define MATRIX_ROTATION_PITCH_180 Matrix3f(-1, 0, 0, 0, 1, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_225 Matrix3f(-HALF_SQRT_2, -HALF_SQRT_2, 0, -HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_270 Matrix3f(0, -1, 0, -1, 0, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_315 Matrix3f(HALF_SQRT_2, -HALF_SQRT_2, 0, -HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, -1)
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// fill in a matrix with a standard rotation
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template <typename T>
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void Matrix3<T>::rotation(enum Rotation r)
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{
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switch (r) {
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case ROTATION_NONE:
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*this = MATRIX_ROTATION_NONE;
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break;
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case ROTATION_YAW_45:
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*this = MATRIX_ROTATION_YAW_45;
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break;
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case ROTATION_YAW_90:
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*this = MATRIX_ROTATION_YAW_90;
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break;
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case ROTATION_YAW_135:
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*this = MATRIX_ROTATION_YAW_135;
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break;
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case ROTATION_YAW_180:
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*this = MATRIX_ROTATION_YAW_180;
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break;
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case ROTATION_YAW_225:
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*this = MATRIX_ROTATION_YAW_225;
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break;
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case ROTATION_YAW_270:
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*this = MATRIX_ROTATION_YAW_270;
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break;
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case ROTATION_YAW_315:
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*this = MATRIX_ROTATION_YAW_315;
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break;
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case ROTATION_ROLL_180:
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*this = MATRIX_ROTATION_ROLL_180;
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break;
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case ROTATION_ROLL_180_YAW_45:
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*this = MATRIX_ROTATION_ROLL_180_YAW_45;
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break;
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case ROTATION_ROLL_180_YAW_90:
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*this = MATRIX_ROTATION_ROLL_180_YAW_90;
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break;
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case ROTATION_ROLL_180_YAW_135:
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*this = MATRIX_ROTATION_ROLL_180_YAW_135;
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break;
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case ROTATION_PITCH_180:
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*this = MATRIX_ROTATION_PITCH_180;
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break;
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case ROTATION_ROLL_180_YAW_225:
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*this = MATRIX_ROTATION_ROLL_180_YAW_225;
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break;
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case ROTATION_ROLL_180_YAW_270:
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*this = MATRIX_ROTATION_ROLL_180_YAW_270;
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break;
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case ROTATION_ROLL_180_YAW_315:
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*this = MATRIX_ROTATION_ROLL_180_YAW_315;
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break;
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}
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}
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// only define for float
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template void Matrix3<float>::rotation(enum Rotation);
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